version: 66.03
glider: 16
mission: 9
dive: 120
start: 7 1 108 18 19 31
data:
$ID,16
$MISSION,9
$DIVE,120
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,557.32159
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2095454.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,181358,6219.284,-901.117,35,2.4,54,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-51.2
$GPS2,181839,6219.390,-901.033,15,1.5,15,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.034,-0.219
$KALMAN_X,-176647.8,-603.8,1144.8,-26389.7,-18908.6
$KALMAN_Y,8626.1,-3513.0,-88.2,164971.1,44081.9
$MHEAD_RNG_PITCHd_Wd,191.9,60968,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,166,0.00,0.00,-138.75,0.000,6,0.000,0.000,62,2322,3381
$GC,169,-0.85,-146.6,6.6,-6.0,7,186,11.50,0.00,0.00,0.000,6,0.166,0.000,2106,2322,3382
$GC,497,-0.65,-146.6,55.3,-11.2,23,502,0.22,2.62,0.00,0.000,4,0.095,0.074,2154,3704,3382
$GC,553,-0.58,-146.6,60.6,-8.9,25,560,0.00,2.58,0.00,0.000,6,0.000,0.052,2154,2291,3382
$GC,870,-0.52,-146.6,83.2,-6.5,41,875,0.15,2.62,0.00,0.000,4,0.095,0.064,2187,884,3382
$GC,903,-0.61,-146.6,85.0,-4.5,42,910,0.00,2.60,0.00,0.000,6,0.000,0.056,2187,2295,3382
$GC,1222,-0.66,-146.6,99.5,-4.8,58,1227,0.15,2.67,0.00,0.000,4,0.043,0.073,2135,3712,3382
$GC,1272,-0.54,-146.6,103.0,-6.6,60,1277,0.22,2.60,0.00,0.000,6,0.081,0.054,2180,2297,3382
$GC,1590,-0.54,-146.6,116.7,-4.5,75,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2297,3382
$GC,1897,-0.54,-146.6,132.2,-4.9,90,1902,0.00,2.62,0.00,0.000,4,0.000,0.064,2180,883,3382
$GC,1931,-0.61,-146.6,133.8,-5.3,91,1938,0.00,2.62,0.00,0.000,6,0.000,0.057,2180,2307,3382
$GC,2249,-0.61,-146.6,147.8,-4.2,107,2254,0.00,2.67,0.00,0.000,4,0.000,0.064,2180,877,3381
$GC,2283,-0.69,-146.6,149.3,-4.3,108,2290,0.15,2.62,0.00,0.000,6,0.043,0.056,2132,2303,3382
$GC,2600,-0.58,-146.6,167.3,-5.2,124,2605,0.17,2.67,0.00,0.000,4,0.084,0.065,2170,878,3382
$GC,2656,-0.64,-146.6,169.6,-3.8,126,2662,0.00,2.62,0.00,0.000,6,0.000,0.056,2170,2299,3382
$GC,2972,-0.64,-146.6,180.7,-3.3,142,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2300,3382
$GC,3281,-0.64,-146.6,191.3,-3.6,157,3286,0.00,2.65,0.00,0.000,4,0.000,0.065,2170,883,3381
$GC,3332,-0.69,-146.6,193.2,-3.6,159,3336,0.00,2.62,0.00,0.000,6,0.000,0.057,2170,2304,3382
$GC,3648,-0.69,-146.6,206.3,-4.7,174,3652,0.00,2.67,0.00,0.000,4,0.000,0.066,2170,876,3381
$GC,3689,-0.75,-146.6,208.1,-4.9,176,3694,0.15,2.62,0.00,0.000,6,0.044,0.058,2123,2303,3382
$GC,4016,-0.63,-146.6,231.6,-7.4,192,4021,0.15,2.67,0.00,0.000,4,0.084,0.067,2157,885,3382
$GC,4056,-0.63,-146.6,234.2,-5.7,194,4061,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2303,3381
$GC,4383,-0.63,-146.6,256.8,-7.5,210,4387,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,882,3381
$GC,4415,-0.63,-146.6,259.5,-7.8,211,4421,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2299,3381
$GC,4731,-0.63,-146.6,287.5,-9.5,227,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3380
$GC,5040,-0.63,-146.6,318.6,-10.3,242,5045,0.00,2.65,0.00,0.000,4,0.000,0.068,2157,884,3381
$GC,5118,-0.63,-146.6,326.9,-10.3,245,5125,0.00,2.62,0.00,0.000,6,0.000,0.060,2157,2298,3381
$GC,5434,-0.63,-146.6,359.0,-10.1,261,5439,0.00,2.67,0.00,0.000,4,0.000,0.068,2157,878,3381
$GC,5501,-0.63,-146.6,366.0,-10.3,264,5506,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2306,3381
$GC,5822,-0.63,-146.6,395.6,-7.9,280,5826,0.00,2.67,0.00,0.000,4,0.000,0.081,2157,3713,3381
$GC,5843,-0.63,-146.6,397.1,-7.0,281,5847,0.00,2.60,0.00,0.000,6,0.000,0.058,2156,2300,3381
$GC,6164,-0.63,-146.6,411.7,-4.8,297,6168,0.00,2.65,0.00,0.000,4,0.000,0.071,2157,878,3381
$GC,6181,-0.57,-146.6,413.4,-7.7,298,6186,0.00,2.65,0.00,0.000,6,0.000,0.060,2157,2304,3381
$GC,6509,-0.57,-146.6,431.4,-1.2,314,6513,0.00,2.70,0.00,0.000,4,0.000,0.083,2157,3712,3380
$GC,6549,-0.52,-146.6,434.5,-9.3,316,6554,0.15,2.62,0.00,0.000,6,0.091,0.058,2187,2293,3380
$STATE,6873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6873,begin apogee
$GC,6880,-0.31,0.0,454.1,6.9,332,7015,0.22,0.00,127.45,0.938,6,0.087,0.000,2233,2203,2781
$STATE,7015,end apogee,CONTROL_FINISHED_OK
$STATE,7015,begin climb
$GC,7018,0.85,146.6,459.0,0.0,339,7154,1.15,2.85,126.07,0.923,4,0.077,0.080,2479,3614,2183
$GC,7244,0.85,146.6,450.5,7.3,349,7250,0.00,2.65,0.00,0.000,6,0.000,0.058,2479,2200,2183
$GC,7560,0.91,209.9,436.5,4.3,365,7620,0.00,0.00,54.78,0.904,6,0.000,0.000,2479,2200,1924
$GC,7930,0.99,209.9,416.5,6.9,383,7936,0.17,2.75,0.00,0.000,4,0.046,0.081,2534,3618,1924
$GC,7958,0.92,209.9,414.2,8.7,384,7963,0.17,2.67,0.00,0.000,6,0.087,0.061,2499,2192,1924
$GC,8274,0.92,209.9,388.7,6.6,399,8278,0.00,2.75,0.00,0.000,4,0.000,0.081,2499,3613,1924
$GC,8385,0.92,209.9,381.0,8.0,404,8390,0.00,2.65,0.00,0.000,6,0.000,0.061,2499,2199,1923
$GC,8706,0.92,209.9,354.2,9.1,420,8711,0.00,2.67,0.00,0.000,4,0.000,0.071,2499,782,1923
$GC,8761,0.92,209.9,349.0,9.7,422,8767,0.00,2.62,0.00,0.000,6,0.000,0.055,2500,2200,1922
$GC,9077,0.92,209.9,318.5,9.6,438,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2200,1922
$GC,9386,0.92,209.9,291.7,7.9,453,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2200,1922
$GC,9695,0.96,244.3,272.6,5.1,468,9731,0.00,2.72,29.85,0.811,4,0.000,0.067,2499,779,1783
$GC,9748,1.07,292.7,270.1,4.7,469,9796,0.15,2.65,41.33,0.809,6,0.047,0.054,2544,2201,1586
$GC,10108,1.07,292.7,247.4,6.2,487,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2202,1586
$GC,10414,1.08,299.3,229.3,5.8,502,10428,0.00,2.75,7.43,0.667,4,0.000,0.075,2544,3607,1559
$GC,10441,1.08,299.3,227.5,6.3,503,10445,0.00,2.65,0.00,0.000,6,0.000,0.059,2544,2198,1559
$GC,10761,1.08,299.3,207.3,6.5,519,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2199,1559
$GC,11071,1.08,299.3,188.3,6.0,534,11075,0.00,2.70,0.00,0.000,4,0.000,0.075,2544,3613,1559
$GC,11092,1.09,311.8,187.0,5.7,535,11110,0.00,2.62,11.70,0.697,6,0.000,0.058,2544,2193,1508
$GC,11419,1.12,341.9,169.0,5.2,551,11446,0.00,0.00,25.83,0.729,6,0.000,0.000,2544,2193,1387
$GC,11748,1.19,401.3,153.5,4.4,567,11802,0.00,2.70,49.03,0.736,4,0.000,0.066,2544,785,1145
$GC,11827,1.31,456.3,150.1,4.5,570,11879,0.20,2.62,46.03,0.723,6,0.047,0.053,2600,2201,921
$GC,12201,1.25,456.3,124.3,6.4,589,12206,0.15,2.67,0.00,0.000,4,0.081,0.066,2566,785,920
$GC,12246,1.35,514.4,122.0,4.4,591,12304,0.12,2.60,48.28,0.704,6,0.046,0.053,2606,2203,683
$GC,12614,1.30,514.4,96.3,7.6,609,12619,0.12,2.70,0.00,0.000,4,0.084,0.067,2581,779,683
$GC,12669,1.30,514.4,92.5,6.6,611,12675,0.00,2.62,0.00,0.000,6,0.000,0.053,2581,2203,683
$GC,12985,1.30,514.4,69.7,8.4,627,12989,0.00,2.67,0.00,0.000,4,0.000,0.067,2581,785,683
$GC,13034,1.30,514.4,64.9,9.6,629,13039,0.00,2.60,0.00,0.000,6,0.000,0.052,2581,2206,683
$GC,13350,1.30,514.4,33.6,9.9,644,13355,0.00,2.67,0.00,0.000,4,0.000,0.066,2581,783,683
$GC,13414,1.34,514.4,27.4,10.2,647,13418,0.00,2.60,0.00,0.000,6,0.000,0.052,2581,2201,683
$STATE,13655,end climb,SURFACE_DEPTH_REACHED
$STATE,13655,begin surface coast
$FINISH,0.4,1.027008
$STATE,13677,end surface coast,CONTROL_FINISHED_OK
$STATE,13677,begin surface
$SM_CCo,13700,22.05,0.598,0,0,508,557.32
$SM_GC,1.14,0.00,0.00,22.05,0.000,0.000,0.598,72,2311,508,-10.24,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1866
$TCM_TEMP,16.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,425.5,38.4
$24V_AH,23.7,22.517
$10V_AH,10.2,11.306
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.350,143.750,567.750,22.050,0.000,18.033,37.025,117.128,4.500,0.000,0.000,15.347,1227.424,10139.427,731.409,1498.476,413.920,33.364,1546.399,0.000,1463.602,0.000,24.969
$DEVICE_MAMPS,166.439,82.836,938.041,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.800,446.588,503.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34844,660
$CAP_FILE_SIZE,109728,0
$CFSIZE,260165632,250925056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,010708,220932,6220.921,-857.107,39,1.7,39,-9.5